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2023 United States National Committee of URSI National Radio Science Meeting, USNC-URSI NRSM 2023

作者： Liebau, Thomas J. Manteghi, Majid Virginia Tech Department of Electrical and Computer Engineering BlacksburgVA24060 United States Virginia Tech Engineering Mechanics Program BlacksburgVA24060 United States

ISBN: (纸本)9781946815187

We study the response of the infinite strip to an H-polarized impulsive line source. The infinite-plane solution, valid for times such that the influence of the source has yet to propagate to the boundary, is used to express the inverse kernel explicitly in terms of the effects of truncation. By extracting the immediate response of each boundary to the source, we obtain a form of the inverse kernel that separates the early-time response due to specular reflections, and the late-time response associated with resonances. © 2023 USNC-URSI.

关键词： Strips Reflection Kernel Time-domain analysis

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A Real-time Affordance-based Object Pose Estimation Approach for Robotic Grasp Pose Estimation

A Real-time Affordance-based Object Pose Estimation Approach...

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2023 International Conference on System Science and engineering, ICSSE 2023

作者： Wong, Shang-Wen Chiu, Yu-Chen Tsai, Chi-Yi Tamkang University Doctoral Program in Robotics College of Engineering New Taipei City Taiwan Tamkang University Department of Electrical and Computer Engineering New Taipei City Taiwan

ISBN: (纸本)9798350322941

This paper proposes a pose estimation system for robot grasping based on a novel Object Affordance Detection and Segmentation (OADS) network. The proposed system consists of four modules: (1) OADS network;(2) point cloud extraction;(3) object pose estimation;(4) grasp pose estimation. Based on the OADS network, the proposed system achieves affordance-based object pose estimation results. The proposed grasp pose estimation system is evaluated on a laboratory-made dual-arm robot. Experimental results show that the proposed system achieves high detection rate and high accuracy in affordance detection and segmentation tasks, leading to a high success rate in object grasping tasks with lab-made dual-arm robot. © 2023 IEEE.

关键词： Object detection

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Multi-robot Map Exploration Based on Multiple Rapidly-Exploring Randomized Trees

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SN computer Science 2024年第1期5卷 31页

作者： Mukhopadhyay, Shayok Umari, Hassan Koirala, Koshish Electrical & Computer Engineering and Computer Science Department University of New Haven 300 Boston Post Rd West Haven 06516 CT United States Department of Electrical Engineering American University of Sharjah Sharjah P.O. Box 26666 United Arab Emirates Mechatronics Engineering graduate program American University of Sharjah Sharjah P.O. Box 26666 United Arab Emirates

A map is necessary for tasks such as path planning or localization, which are common to mobile robot navigation. However, a map may be unavailable if the environment in which a robot navigates is unknown. Creating a map requires an exploration algorithm. Such algorithms guide robots to boundaries that separate known portions of a map from the unknown portions. Such boundaries are known as frontiers. There are image processing-based algorithms that detect frontiers. The authors’ previous work uses two, i.e., local and global, rapidly exploring random trees (RRTs) for two-dimensional exploration using a single robot. The present work applies the above to a multiagent system with three robots. A market-based strategy is used to allocate exploration tasks to the robots. Results show that the developed exploration strategy successfully explores a map in a reasonable amount of time compared to image processing-based approaches, and also reduces the map exploration cost. This strategy is readily usable for three-dimensional exploration with drones. It is also shown that the usage of a local frontier detector along with a global frontier detector helps reduce exploration time compared to simply using a global frontier detector alone. As an outline to future work, the paper also shows an extension of the proposed approach towards three-dimensional mapping using a single robot. © 2023, The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd.

关键词： Exploration Mapping Multi-agent Navigation ROS RRT

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Optimized Instruction Set Architecture for programmable Memory Test Pattern Generation 21

Optimized Instruction Set Architecture for Programmable Memo...

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21st International System-on-Chip Design Conference, ISOCC 2024

作者： Park, Seokmin Park, Jewoo Lee, Young-Woo Inha University School of Electrical and Computer Engineering Incheon Korea Republic of Inha University Program in Semiconductor and Device Korea Republic of Hyundai Motor Company Hwaseong Korea Republic of

ISBN: (纸本)9798350377088

Continuous progress in memory semiconductor manufacturing technology has significantly increased capacities, densities, and operating frequencies. However, these developments have also increased the probability of memory defects, consequently diminishing yield rates. To overcome this issue, various memory test pattern algorithms have been devised to identify the type of memory defect, primarily categorized into linear and nonlinear patterns. This paper presents an instruction-based approach for efficiently generating diverse nonlinear patterns. The proposed instruction set architecture (ISA) provides flexibility in generating both linear and intricate nonlinear patterns, while also ensuring a compact memory test setup cycle, regardless of the memory cell size. © 2024 IEEE.

关键词： Cost reduction

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Adaptive Strategies and Handover Optimization in 5G Networks to Address High Mobility Challenges

Adaptive Strategies and Handover Optimization in 5G Networks...

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2024 International Conference on electrical engineering and Informatics, ICELTICs 2024

作者： Murhaban Syahrial Arif, Teuku Yuliar Arnia, Fitri Doctoral Program School of Engineering Universitas Syiah Kuala Universitas Teuku Umar Departement Information Technology Engineering Banda Aceh Aceh Barat Indonesia Universitas Syiah Kuala Department of Electrical and Computer Engineering Banda Aceh Indonesia

ISBN: (纸本)9798350366822

This study develops an adaptive handover strategy in 5G networks to tackle high mobility challenges and improve service continuity and quality. The research method uses a 5G network emulator with a topology of four base stations (gNBs) to test user equipment (UE) speeds of 20 km/h and 130 km/h. The adaptive algorithm developed utilizes data from the Received Signal Strength Indicator (RSSI) as well as the speed and direction of user mobility to make optimal handover decisions. The results show that at a speed of 130 km/h, the average handover latency reaches 12 ms, compared to 8 ms at 80 km/h. Additionally, the signal quality (RSSI) is lower at higher speeds, negatively affecting service quality. This adaptive algorithm successfully reduces handover latency and improves the stability and efficiency of the overall network. The testing also indicates that this adaptive algorithm can predict handover targets by considering UE speed and direction and uses hysteresis mechanisms to prevent overly frequent handovers. By employing technologies such as Multiple Input Multiple Output (MIMO) and beamforming, this strategy is expected to maintain high service quality even under high mobility conditions. © 2024 IEEE.

关键词： 5G mobile communication systems

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Trajectory Learning and Demonstration of a Robot Manipulator Based-on Sensor Fusion from a Hand-held Tool

Trajectory Learning and Demonstration of a Robot Manipulator...

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2024 International Automatic Control Conference, CACS 2024

作者： Song, Kai-Tai Ou, Szu-Chen National Yang Ming Chiao Yang Ming Chiao Tung University Institute of Electrical and Control Engineering College of Electrical and Computer Engineering Hsinchu300093 Taiwan National Yang Ming Chiao Tung University Graduate Degree Program of Robotics Hsinchu300093 Taiwan

ISBN: (纸本)9798350354904

This paper presents a programming system for a robot manipulator using a hand-held demonstration tool. In this system, a user holds the self-designed tool to demonstrate a desired motion path, and the robot arm replicates the learned trajectory. The path-demonstration tool, including optical tags (OT) and an IMU, is designed to collect trajectory data from hand motion. Sensor data fusion allows the system to track accurately the demonstrated trajectory. A calibration procedure is proposed to transform the trajectory from tool's coordinate system to robot's coordinate system. A cubic spline-based trajectory planning method is proposed to ensure smooth reproduction of the learned trajectory in both time and space. Experimental results show that the robot is able to replicate squared and curved trajectories collected from the path-demonstration tool. The average position error is within 2.435 mm in XYZ directions and the average orientation error is within 0.65 degrees. © 2024 IEEE.

关键词： Demonstrations

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Single-Phase Transformerless UPS with Interleaved Boost Converters for Battery Discharging

Single-Phase Transformerless UPS with Interleaved Boost Conv...

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2023 IEEE Energy Conversion Congress and Exposition, ECCE 2023

作者： Pinto, Alan R. A. Bahia, Filipe A. C. Souza, Reuben P. R. Pinheiro, José R. Costa, Fabiano F. Federal University of Bahia Post-Graduate Program in Electrical Engineering - Ppgee Salvador Brazil Federal University of Bahia Dept. of Electrical and Computer Engineering - Deec Salvador Brazil Federal University of Campina Grande Dept. of Electrical Engineering - Dee Campina Grande Brazil

ISBN: (纸本)9798350316445

This paper proposes a reconfiguration for a single-phase, double conversion uninterruptible power supply (UPS). With the addition of two static switches to the original circuit, the UPS mitigates the ripple in the current, through battery discharge performed by two legs. Other than these switches, the circuit topology is preserved. The preliminary results show a satisfactory level of ripples for the inductor current and suitable power quality for the output voltage. © 2023 IEEE.

关键词： battery mode discharger interleaved boost normal mode

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Offsets Reconstruction Method for Clock Skew Measurement Over High-Jitter Communication

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SN computer Science 2025年第5期6卷 1-14页

作者： Sastra, Nyoman Putra Saputra, Komang Oka Teng, Wei-Chung Study Program of Electrical Engineering Faculty of Engineering Udayana University Jalan Raya Kampus Bukit Jimbaran Bali Badung 80361 Indonesia Department of Computer Science and Information Engineering National Taiwan University of Science and Technology No. 43 Section 4 Keelung Rd Taipei 106 China

Measuring clock skew of devices over a network fully relies on the offsets, the differences between sending and receiving times. Offsets that shape a thick line are the most ideal one as their slope is directly the clock skew sought. When some outliers separate from the thick line due to higher delay jitter, current advanced approaches use the lower bound or the majority of offsets to derive accurate clock skew. However, outliers in offsets that shape parallel dotted lines, reduce the availability of offsets in the lower region, and scatter widely the offsets from their majority zone. These conditions drive the current skew estimation approaches to lose their accuracy. This paper then developed a new method, which reconstructs back the outliers into their origin positions, in order to provide ideal offsets for clock skew measurement. The experimental evaluations have demonstrated that the clock skew accuracy of dotted-lines offsets tampered by outliers was improved from 2.1 to 0.9 ppm by the proposed reconstruction method. For a broader purpose, the reconstruction method has been adjusted to be implemented also on non-dotted-lines offsets. The robustness of the proposed method for this case has also been exhibited by the very ideal reconstructed offsets that shape like a thick line. © The Author(s) 2025.

关键词： Clock skew Delay jitter Dotted lines Hough transform

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Neurocognitive assessment under various human-robot teaming environments 46

Neurocognitive assessment under various human-robot teaming ...

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46th Annual International Conference of the IEEE engineering in Medicine and Biology Society, EMBC 2024

作者： Packy, Anna L. Jayahankar, Jayesh Teymourlouei, Arya Stone, Joshua Oh, Hyuk Katz, Garrett E. Reggia, James A. Gentili, Rodolphe J. University of Maryland Neuroscience and Cognitive Science Program College Park United States University of Maryland Department of Computer Science College Park United States University of Maryland Department of Electrical & Computer Engineering College Park United States University of Maryland Department of Kinesiology College Park United States Syracuse University Department of Electrical Engineering & Computer Science Syracuse United States

ISBN: (纸本)9798350371499

Human-robot teaming has become increasingly important with the advent of intelligent machines. Prior efforts suggest that performance, mental workload, and trust are critical elements of human-robot dynamics that can be altered by the robot's behavior. Most prior human-robot teaming studies used behavioral analyses, but a limited number used neural markers, without the use of physical robots and complex tasks. Here we combine behavioral and EEG cortical dynamics to examine cognitive-motor processes when individuals complete a complex task under various team environments with a robot. The results revealed that altering the robot quality affected both behavioral and EEG dynamics. Task completion with an experienced robot led to greater team performance and human trust along with lower mental workload compared to an inexperienced teammate or when individuals performed alone. EEG changes suggest that different attentional processes were engaged when humans worked with the robot and performed alone, and that visual processing was more prominent when teaming with an inexperienced teammate. This work can inform human cognitive-motor processes and the design of robotic controllers in human-robot teams. © 2024 IEEE.

关键词： Man machine systems

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Rate maximization with QoS guarantees in IRS-Assisted WPCN-NOMA systems 7

Rate maximization with QoS guarantees in IRS-Assisted WPCN-N...

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7th Workshop on Communication Networks and Power Systems, WCNPS 2022

作者： De Pinho, Carlos Augusto Melo Lima, Francisco Rafael Marques Federal University of Ceará Postgraduate Program in Computer and Electrical Engineering campus Sobral Brazil Brazil

ISBN: (数字)9781665474566

ISBN: (纸本)9781665474566

In this article, Intelligent Reflecting Surface (IRS) technology is used to assist a Wireless Powered Communication Network (WPCN) system composed of a Hybrid Access Point (HAP) and multiple devices during downlink and uplink phases. In the downlink, devices charge their batteries through Wireless Power Transfer (WPT) from the power signals coming directly from the HAP and from the signals reflected by the IRS. In the uplink, the devices transmit their information signals to the HAP by employing Non-Orthogonal Multiple Access (NOMA). In the HAP, information is decoded through Successive Interference Cancellation (SIC). Based on this system model, an optimization problem is formulated so as to maximize the total uplink data rate subject to individual Quality of Service (QoS) guarantees for devices where IRS's phase shifts, uplink/downlink time duration and device ordering in SIC are optimized. Motivated by the high complexity of the optimization problem, we employ alternate optimization where Genetic Algorithm (GA) is used to define IRS's phase shifts in uplink/downlink and a heuristic solution is employed to optimize the remaining variables. Simulation results show that the proposed solution is able to satisfy different levels of QoS demands with higher spectral efficiency compared to baseline solutions. © 2022 IEEE.

关键词： Energy harvesting

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